feat(server): accuracy sprint 001 — Kalman tracker, multi-node fusion, eigenvalue counting#341
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taylorjdawson wants to merge 3 commits intoruvnet:mainfrom
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feat(server): accuracy sprint 001 — Kalman tracker, multi-node fusion, eigenvalue counting#341taylorjdawson wants to merge 3 commits intoruvnet:mainfrom
taylorjdawson wants to merge 3 commits intoruvnet:mainfrom
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Complements ruvnet#326 (per-node state pipeline) with additional features: - Dynamic adaptive classifier: discover activity classes from training data filenames instead of hardcoded array. Users add classes via filename convention (train_<class>_<desc>.jsonl), no code changes. - Per-node UI cards: SensingTab shows individual node status with color-coded markers, RSSI, variance, and classification per node. - Colored node markers in 3D gaussian splat view (8-color palette). - Per-node RSSI history tracking in sensing service. - XSS fix: UI uses createElement/textContent instead of innerHTML. - RSSI sign fix: ensure dBm values are always negative. - GET /api/v1/nodes endpoint for per-node health monitoring. - node_features field in WebSocket SensingUpdate messages. - Firmware watchdog fix: yield after every frame to prevent IDLE1 starvation. Addresses ruvnet#237, ruvnet#276, ruvnet#282 Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
…, eigenvalue counting Wire three existing signal-crate components into the live sensing path: Step 1 — Kalman Tracker (tracker_bridge.rs): - PoseTracker from wifi-densepose-signal wired into all 5 mutable derive_pose_from_sensing call sites - Stable TrackId-based person IDs replace ephemeral 0-based indices - Greedy Mahalanobis assignment with proper lifecycle transitions (Tentative → Active → Lost → Terminated) - Kalman-smoothed keypoint positions reduce frame-to-frame jitter Step 2 — Multi-Node Fusion (multistatic_bridge.rs): - MultistaticFuser replaces naive .sum() aggregation at both ESP32 paths - Attention-weighted CSI fusion across nodes with cosine-similarity weights - Fallback uses max (not sum) to avoid double-counting overlapping coverage - Node positions configurable via --node-positions CLI arg - Single-node passthrough preserved (min_nodes=1) Step 3 — Eigenvalue Person Counting (field_model.rs upgrade): - Full covariance matrix accumulation (replaces diagonal variance approx) - True eigendecomposition via ndarray-linalg Eigh (Marcenko-Pastur threshold) - estimate_occupancy() for runtime eigenvalue-based counting - Calibration API: POST /calibration/start|stop, GET /calibration/status - Graceful fallback to score_to_person_count when uncalibrated New files: tracker_bridge.rs, multistatic_bridge.rs, field_bridge.rs Modified: sensing-server main.rs, Cargo.toml; signal field_model.rs, Cargo.toml Refs: .swarm/plans/accuracy-sprint-001.md Co-Authored-By: claude-flow <ruv@ruv.net>
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Critical fixes: - C1: FieldModel created with n_links=1 (single_link_config) so feed_calibration/extract_perturbation no longer get DimensionMismatch - C2: variance_explained now uses centered covariance trace (E[x²]-E[x]²) matching mode_energies normalization - C3: MP ratio uses total_obs = frames * links for consistent threshold between calibration and runtime - C4: Noise estimator filters to positive eigenvalues only, preventing collapse to ~0 on rank-deficient matrices (p > n) - C5: ESP32 paths gate total_persons on presence — empty room reports 0 High fixes: - H1: Bounding box computed from observed keypoints only (confidence > 0), preventing collapse from centroid-filled unobserved slots - H2: fuse_or_fallback returns Option<usize> instead of sentinel 0, eliminating type ambiguity between "fusion succeeded" and "zero people" - H3: Monotonic epoch-relative timestamps replace wall-clock/Instant mixing, preventing spurious TimestampMismatch on NTP steps - H5: ndarray-linalg gated behind "eigenvalue" feature flag (default=on), diagonal fallback used with --no-default-features Moderate fixes: - M1: calibration_start guards against replacing Fresh calibration - M2: parse_node_positions logs warning for malformed entries Co-Authored-By: claude-flow <ruv@ruv.net>
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Summary
Wire three existing signal-crate components into the live sensing path to replace heuristic person counting with physics-grounded approaches:
tracker_bridge.rs): Stable person IDs viaPoseTrackerwith greedy Mahalanobis assignment, proper lifecycle transitions (Tentative→Active→Lost→Terminated), and Kalman-smoothed keypoints — eliminates frame-to-frame jitter and ephemeral 0-based IDsmultistatic_bridge.rs):MultistaticFuserreplaces naive.sum()of per-node person counts with attention-weighted CSI fusion — two nodes seeing one person now reports 1 (not 2). Fallback usesmaxto avoid double-counting overlapping coveragefield_model.rsupgrade): Full covariance matrix +ndarray-linalgeigendecomposition with Marcenko-Pastur noise threshold replaces diagonal variance approximation.estimate_occupancy()for runtime counting, calibration API (/calibration/start|stop|status)Changes
New files
sensing-server/src/tracker_bridge.rssensing-server/src/multistatic_bridge.rssensing-server/src/field_bridge.rsModified files
sensing-server/Cargo.tomlwifi-densepose-signaldependencysensing-server/src/main.rssignal/Cargo.tomlndarray-linalgdependencysignal/src/ruvsense/field_model.rsestimate_occupancy(),baseline_eigenvalue_countKey design decisions
ndarray-linalgovernalgebra— signal crate already usesndarray, workspace dep existsTest plan
cargo test -p wifi-densepose-signal --no-default-features— existing 49+ tests pass (16 tracker + 15 multistatic + 18+4 field_model)cargo test -p wifi-densepose-sensing-server— existing server tests + new bridge tests passcargo test --workspace --no-default-features— full 1031+ test suite greenPOST /calibration/start, wait,POST /calibration/stop— verify baseline eigenvalue count reportedRefs:
.swarm/plans/accuracy-sprint-001.md🤖 Generated with claude-flow